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xform_prim

XFormPrim

Bases: BasePrim

Provides high level functions to deal with an Xform prim and its attributes/ properties. If there is an Xform prim present at the path, it will use it. Otherwise, a new XForm prim at the specified prim path will be created when self.load(...) is called.

the prim will have "xformOp:orient", "xformOp:translate" and "xformOp:scale" only post init,

unless it is a non-root articulation link.

Parameters:

Name Type Description Default
prim_path str

prim path of the Prim to encapsulate or create.

 required
name str

Name for the object. Names need to be unique per scene.

 required
load_config None or dict

If specified, should contain keyword-mapped values that are relevant for loading this prim at runtime. For this xform prim, the below values can be specified:

scale (None or float or 3-array): If specified, sets the scale for this object. A single number corresponds to uniform scaling along the x,y,z axes, whereas a 3-array specifies per-axis scaling.

 None
Source code in omnigibson/prims/xform_prim.py 
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class XFormPrim(BasePrim):
    """
    Provides high level functions to deal with an Xform prim and its attributes/ properties.
    If there is an Xform prim present at the path, it will use it. Otherwise, a new XForm prim at
    the specified prim path will be created when self.load(...) is called.

    Note: the prim will have "xformOp:orient", "xformOp:translate" and "xformOp:scale" only post init,
        unless it is a non-root articulation link.

    Args:
        prim_path (str): prim path of the Prim to encapsulate or create.
        name (str): Name for the object. Names need to be unique per scene.
        load_config (None or dict): If specified, should contain keyword-mapped values that are relevant for
            loading this prim at runtime. For this xform prim, the below values can be specified:

            scale (None or float or 3-array): If specified, sets the scale for this object. A single number corresponds
                to uniform scaling along the x,y,z axes, whereas a 3-array specifies per-axis scaling.
    """

    def __init__(
        self,
        prim_path,
        name,
        load_config=None,
    ):
        # Other values that will be filled in at runtime
        self._binding_api = None
        self._material = None
        self._collision_filter_api = None

        # Run super method
        super().__init__(
            prim_path=prim_path,
            name=name,
            load_config=load_config,
        )

    def _load(self):
        return og.sim.stage.DefinePrim(self._prim_path, "Xform")

    def _post_load(self):
        # run super first
        super()._post_load()

        # Make sure all xforms have pose and scaling info
        self._set_xform_properties()

        # Create collision filter API
        self._collision_filter_api = UsdPhysics.FilteredPairsAPI(self._prim) if \
            self._prim.HasAPI(UsdPhysics.FilteredPairsAPI) else UsdPhysics.FilteredPairsAPI.Apply(self._prim)

        # Create binding API
        self._binding_api = UsdShade.MaterialBindingAPI(self.prim) if \
            self._prim.HasAPI(UsdShade.MaterialBindingAPI) else UsdShade.MaterialBindingAPI.Apply(self.prim)

        # Grab the attached material if it exists
        if self.has_material():
            self._material = MaterialPrim(
                prim_path=self._binding_api.GetDirectBinding().GetMaterialPath().pathString,
                name=f"{self.name}:material",
            )

        # Optionally set the scale and visibility
        if "scale" in self._load_config and self._load_config["scale"] is not None:
            self.scale = self._load_config["scale"]

    def _set_xform_properties(self):
        current_position, current_orientation = self.get_position_orientation()
        properties_to_remove = [
            "xformOp:rotateX",
            "xformOp:rotateXZY",
            "xformOp:rotateY",
            "xformOp:rotateYXZ",
            "xformOp:rotateYZX",
            "xformOp:rotateZ",
            "xformOp:rotateZYX",
            "xformOp:rotateZXY",
            "xformOp:rotateXYZ",
            "xformOp:transform",
        ]
        prop_names = self.prim.GetPropertyNames()
        xformable = UsdGeom.Xformable(self.prim)
        xformable.ClearXformOpOrder()
        # TODO: wont be able to delete props for non root links on articulated objects
        for prop_name in prop_names:
            if prop_name in properties_to_remove:
                self.prim.RemoveProperty(prop_name)
        if "xformOp:scale" not in prop_names:
            xform_op_scale = xformable.AddXformOp(UsdGeom.XformOp.TypeScale, UsdGeom.XformOp.PrecisionDouble, "")
            xform_op_scale.Set(Gf.Vec3d([1.0, 1.0, 1.0]))
        else:
            xform_op_scale = UsdGeom.XformOp(self._prim.GetAttribute("xformOp:scale"))

        if "xformOp:translate" not in prop_names:
            xform_op_translate = xformable.AddXformOp(
                UsdGeom.XformOp.TypeTranslate, UsdGeom.XformOp.PrecisionDouble, ""
            )
        else:
            xform_op_translate = UsdGeom.XformOp(self._prim.GetAttribute("xformOp:translate"))

        if "xformOp:orient" not in prop_names:
            xform_op_rot = xformable.AddXformOp(UsdGeom.XformOp.TypeOrient, UsdGeom.XformOp.PrecisionDouble, "")
        else:
            xform_op_rot = UsdGeom.XformOp(self._prim.GetAttribute("xformOp:orient"))
        xformable.SetXformOpOrder([xform_op_translate, xform_op_rot, xform_op_scale])

        self.set_position_orientation(position=current_position, orientation=current_orientation)
        new_position, new_orientation = self.get_position_orientation()
        r1 = R.from_quat(current_orientation).as_matrix()
        r2 = R.from_quat(new_orientation).as_matrix()
        # Make sure setting is done correctly
        assert np.allclose(new_position, current_position, atol=1e-4) and np.allclose(r1, r2, atol=1e-4), \
            f"{self.prim_path}: old_pos: {current_position}, new_pos: {new_position}, " \
            f"old_orn: {current_orientation}, new_orn: {new_orientation}"

    def has_material(self):
        """
        Returns:
            bool: True if there is a visual material bound to this prim. False otherwise
        """
        material_path = self._binding_api.GetDirectBinding().GetMaterialPath().pathString
        return False if material_path == "" else True

    def set_position_orientation(self, position=None, orientation=None):
        """
        Sets prim's pose with respect to the world frame

        Args:
            position (None or 3-array): if specified, (x,y,z) position in the world frame
                Default is None, which means left unchanged.
            orientation (None or 4-array): if specified, (x,y,z,w) quaternion orientation in the world frame.
                Default is None, which means left unchanged.
        """
        current_position, current_orientation = self.get_position_orientation()
        position = current_position if position is None else np.array(position, dtype=float)
        orientation = current_orientation if orientation is None else np.array(orientation, dtype=float)
        orientation = orientation[[3, 0, 1, 2]]     # Flip from x,y,z,w to w,x,y,z

        mat = Gf.Transform()
        mat.SetRotation(Gf.Rotation(Gf.Quatd(*orientation)))
        mat.SetTranslation(Gf.Vec3d(*position))

        # mat.SetScale(Gf.Vec3d(*(self.get_world_scale() / self.scale)))
        # TODO (eric): understand why this (mat.setScale) works - this works empirically but it's unclear why.
        mat.SetScale(Gf.Vec3d(*(self.scale.astype(np.float64))))
        my_world_transform = np.transpose(mat.GetMatrix())

        parent_world_tf = UsdGeom.Xformable(get_prim_parent(self._prim)).ComputeLocalToWorldTransform(Usd.TimeCode.Default())
        parent_world_transform = np.transpose(parent_world_tf)

        local_transform = np.matmul(np.linalg.inv(parent_world_transform), my_world_transform)
        transform = Gf.Transform()
        transform.SetMatrix(Gf.Matrix4d(np.transpose(local_transform)))
        calculated_translation = transform.GetTranslation()
        calculated_orientation = transform.GetRotation().GetQuat()
        self.set_local_pose(
            translation=np.array(calculated_translation), orientation=gf_quat_to_np_array(calculated_orientation)[[1, 2, 3, 0]]     # Flip from w,x,y,z to x,y,z,w
        )

    def get_position_orientation(self):
        """
        Gets prim's pose with respect to the world's frame.

        Returns:
            2-tuple:
                - 3-array: (x,y,z) position in the world frame
                - 4-array: (x,y,z,w) quaternion orientation in the world frame
        """
        prim_tf = UsdGeom.Xformable(self._prim).ComputeLocalToWorldTransform(Usd.TimeCode.Default())
        transform = Gf.Transform()
        transform.SetMatrix(prim_tf)
        position = transform.GetTranslation()
        orientation = transform.GetRotation().GetQuat()
        return np.array(position), gf_quat_to_np_array(orientation)[[1, 2, 3, 0]]

    def set_position(self, position):
        """
        Set this prim's position with respect to the world frame

        Args:
            position (3-array): (x,y,z) global cartesian position to set
        """
        self.set_position_orientation(position=position)

    def get_position(self):
        """
        Get this prim's position with respect to the world frame

        Returns:
            3-array: (x,y,z) global cartesian position of this prim
        """
        return self.get_position_orientation()[0]

    def set_orientation(self, orientation):
        """
        Set this prim's orientation with respect to the world frame

        Args:
            orientation (4-array): (x,y,z,w) global quaternion orientation to set
        """
        self.set_position_orientation(orientation=orientation)

    def get_orientation(self):
        """
        Get this prim's orientation with respect to the world frame

        Returns:
            4-array: (x,y,z,w) global quaternion orientation of this prim
        """
        return self.get_position_orientation()[1]

    def get_rpy(self):
        """
        Get this prim's orientation with respect to the world frame

        Returns:
            3-array: (roll, pitch, yaw) global euler orientation of this prim
        """
        return quat2euler(self.get_orientation())

    def get_local_pose(self):
        """
        Gets prim's pose with respect to the prim's local frame (it's parent frame)

        Returns:
            2-tuple:
                - 3-array: (x,y,z) position in the local frame
                - 4-array: (x,y,z,w) quaternion orientation in the local frame
        """
        xform_translate_op = self.get_attribute("xformOp:translate")
        xform_orient_op = self.get_attribute("xformOp:orient")
        return np.array(xform_translate_op), gf_quat_to_np_array(xform_orient_op)[[1, 2, 3, 0]]

    def set_local_pose(self, translation=None, orientation=None):
        """
        Sets prim's pose with respect to the local frame (the prim's parent frame).

        Args:
            translation (None or 3-array): if specified, (x,y,z) translation in the local frame of the prim
                (with respect to its parent prim). Default is None, which means left unchanged.
            orientation (None or 4-array): if specified, (x,y,z,w) quaternion orientation in the local frame of the prim
                (with respect to its parent prim). Default is None, which means left unchanged.
        """
        properties = self.prim.GetPropertyNames()
        if translation is not None:
            translation = Gf.Vec3d(*np.array(translation, dtype=float))
            if "xformOp:translate" not in properties:
                carb.log_error(
                    "Translate property needs to be set for {} before setting its position".format(self.name)
                )
            self.set_attribute("xformOp:translate", translation)
        if orientation is not None:
            orientation = np.array(orientation, dtype=float)[[3, 0, 1, 2]]
            if "xformOp:orient" not in properties:
                carb.log_error(
                    "Orient property needs to be set for {} before setting its orientation".format(self.name)
                )
            xform_op = self._prim.GetAttribute("xformOp:orient")
            if xform_op.GetTypeName() == "quatf":
                rotq = Gf.Quatf(*orientation)
            else:
                rotq = Gf.Quatd(*orientation)
            xform_op.Set(rotq)
        return

    def get_world_scale(self):
        """
        Gets prim's scale with respect to the world's frame.

        Returns:
            np.ndarray: scale applied to the prim's dimensions in the world frame. shape is (3, ).
        """
        prim_tf = UsdGeom.Xformable(self._prim).ComputeLocalToWorldTransform(Usd.TimeCode.Default())
        transform = Gf.Transform()
        transform.SetMatrix(prim_tf)
        return np.array(transform.GetScale())

    @property
    def scale(self):
        """
        Gets prim's scale with respect to the local frame (the parent's frame).

        Returns:
            np.ndarray: scale applied to the prim's dimensions in the local frame. shape is (3, ).
        """
        return np.array(self.get_attribute("xformOp:scale"))

    @scale.setter
    def scale(self, scale):
        """
        Sets prim's scale with respect to the local frame (the prim's parent frame).

        Args:
            scale (float or np.ndarray): scale to be applied to the prim's dimensions. shape is (3, ).
                                          Defaults to None, which means left unchanged.
        """
        scale = np.array(scale, dtype=float) if isinstance(scale, Iterable) else np.ones(3) * scale
        scale = Gf.Vec3d(*scale)
        properties = self.prim.GetPropertyNames()
        if "xformOp:scale" not in properties:
            carb.log_error("Scale property needs to be set for {} before setting its scale".format(self.name))
        self.set_attribute("xformOp:scale", scale)

    @property
    def aabb(self):
        """
        Get this xform's actual bounding box, axis-aligned in the world frame

        Returns:
            2-tuple:
                - 3-array: (x,y,z) lower corner of the bounding box
                - 3-array: (x,y,z) upper corner of the bounding box
        """
        return BoundingBoxAPI.compute_aabb(self)

    @property
    def aabb_extent(self):
        """
        Get this xform's actual bounding box extent

        Returns:
            3-array: (x,y,z) bounding box
        """
        min_corner, max_corner = self.aabb
        return max_corner - min_corner

    @property
    def aabb_center(self):
        """
        Get this xform's actual bounding box center

        Returns:
            3-array: (x,y,z) bounding box center
        """
        min_corner, max_corner = self.aabb
        return (max_corner + min_corner) / 2.0

    @property
    def material(self):
        """
        Returns:
            None or MaterialPrim: The bound material to this prim, if there is one
        """
        return self._material

    @material.setter
    def material(self, material):
        """
        Set the material @material for this prim. This will also bind the material to this prim

        Args:
            material (MaterialPrim): Material to bind to this prim
        """
        self._binding_api.Bind(UsdShade.Material(material.prim), bindingStrength=UsdShade.Tokens.weakerThanDescendants)
        self._material = material

    def add_filtered_collision_pair(self, prim):
        """
        Adds a collision filter pair with another prim

        Args:
            prim (XFormPrim): Another prim to filter collisions with
        """
        # Add to both this prim's and the other prim's filtered pair
        self._collision_filter_api.GetFilteredPairsRel().AddTarget(prim.prim_path)
        prim._collision_filter_api.GetFilteredPairsRel().AddTarget(self._prim_path)

    def remove_filtered_collision_pair(self, prim):
        """
        Removes a collision filter pair with another prim

        Args:
            prim (XFormPrim): Another prim to remove filter collisions with
        """
        # Add to both this prim's and the other prim's filtered pair
        self._collision_filter_api.GetFilteredPairsRel().RemoveTarget(prim.prim_path)
        prim._collision_filter_api.GetFilteredPairsRel().RemoveTarget(self._prim_path)

    def _dump_state(self):
        pos, ori = self.get_position_orientation()
        return dict(pos=pos, ori=ori)

    def _load_state(self, state):
        self.set_position_orientation(np.array(state["pos"]), np.array(state["ori"]))

    def _serialize(self, state):
        return np.concatenate([state["pos"], state["ori"]]).astype(float)

    def _deserialize(self, state):
        # We deserialize deterministically by knowing the order of values -- pos, ori
        return dict(pos=state[0:3], ori=state[3:7]), 7

aabb property

Get this xform's actual bounding box, axis-aligned in the world frame

Returns:

Type Description

2-tuple: - 3-array: (x,y,z) lower corner of the bounding box - 3-array: (x,y,z) upper corner of the bounding box

aabb_center property

Get this xform's actual bounding box center

Returns:

Type Description

3-array: (x,y,z) bounding box center

aabb_extent property

Get this xform's actual bounding box extent

Returns:

Type Description

3-array: (x,y,z) bounding box

material property writable

Returns:

Type Description

None or MaterialPrim: The bound material to this prim, if there is one

scale property writable

Gets prim's scale with respect to the local frame (the parent's frame).

Returns:

Type Description

np.ndarray: scale applied to the prim's dimensions in the local frame. shape is (3, ).

add_filtered_collision_pair(prim)

Adds a collision filter pair with another prim

Parameters:

Name Type Description Default
prim XFormPrim

Another prim to filter collisions with

 required
Source code in omnigibson/prims/xform_prim.py 
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def add_filtered_collision_pair(self, prim):
    """
    Adds a collision filter pair with another prim

    Args:
        prim (XFormPrim): Another prim to filter collisions with
    """
    # Add to both this prim's and the other prim's filtered pair
    self._collision_filter_api.GetFilteredPairsRel().AddTarget(prim.prim_path)
    prim._collision_filter_api.GetFilteredPairsRel().AddTarget(self._prim_path)

get_local_pose()

Gets prim's pose with respect to the prim's local frame (it's parent frame)

Returns:

Type Description

2-tuple: - 3-array: (x,y,z) position in the local frame - 4-array: (x,y,z,w) quaternion orientation in the local frame
Source code in omnigibson/prims/xform_prim.py 
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def get_local_pose(self):
    """
    Gets prim's pose with respect to the prim's local frame (it's parent frame)

    Returns:
        2-tuple:
            - 3-array: (x,y,z) position in the local frame
            - 4-array: (x,y,z,w) quaternion orientation in the local frame
    """
    xform_translate_op = self.get_attribute("xformOp:translate")
    xform_orient_op = self.get_attribute("xformOp:orient")
    return np.array(xform_translate_op), gf_quat_to_np_array(xform_orient_op)[[1, 2, 3, 0]]

get_orientation()

Get this prim's orientation with respect to the world frame

Returns:

Type Description

4-array: (x,y,z,w) global quaternion orientation of this prim
Source code in omnigibson/prims/xform_prim.py 
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def get_orientation(self):
    """
    Get this prim's orientation with respect to the world frame

    Returns:
        4-array: (x,y,z,w) global quaternion orientation of this prim
    """
    return self.get_position_orientation()[1]

get_position()

Get this prim's position with respect to the world frame

Returns:

Type Description

3-array: (x,y,z) global cartesian position of this prim
Source code in omnigibson/prims/xform_prim.py 
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def get_position(self):
    """
    Get this prim's position with respect to the world frame

    Returns:
        3-array: (x,y,z) global cartesian position of this prim
    """
    return self.get_position_orientation()[0]

get_position_orientation()

Gets prim's pose with respect to the world's frame.

Returns:

Type Description

2-tuple: - 3-array: (x,y,z) position in the world frame - 4-array: (x,y,z,w) quaternion orientation in the world frame
Source code in omnigibson/prims/xform_prim.py 
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def get_position_orientation(self):
    """
    Gets prim's pose with respect to the world's frame.

    Returns:
        2-tuple:
            - 3-array: (x,y,z) position in the world frame
            - 4-array: (x,y,z,w) quaternion orientation in the world frame
    """
    prim_tf = UsdGeom.Xformable(self._prim).ComputeLocalToWorldTransform(Usd.TimeCode.Default())
    transform = Gf.Transform()
    transform.SetMatrix(prim_tf)
    position = transform.GetTranslation()
    orientation = transform.GetRotation().GetQuat()
    return np.array(position), gf_quat_to_np_array(orientation)[[1, 2, 3, 0]]

get_rpy()

Get this prim's orientation with respect to the world frame

Returns:

Type Description

3-array: (roll, pitch, yaw) global euler orientation of this prim
Source code in omnigibson/prims/xform_prim.py 
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def get_rpy(self):
    """
    Get this prim's orientation with respect to the world frame

    Returns:
        3-array: (roll, pitch, yaw) global euler orientation of this prim
    """
    return quat2euler(self.get_orientation())

get_world_scale()

Gets prim's scale with respect to the world's frame.

Returns:

Type Description

np.ndarray: scale applied to the prim's dimensions in the world frame. shape is (3, ).
Source code in omnigibson/prims/xform_prim.py 
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def get_world_scale(self):
    """
    Gets prim's scale with respect to the world's frame.

    Returns:
        np.ndarray: scale applied to the prim's dimensions in the world frame. shape is (3, ).
    """
    prim_tf = UsdGeom.Xformable(self._prim).ComputeLocalToWorldTransform(Usd.TimeCode.Default())
    transform = Gf.Transform()
    transform.SetMatrix(prim_tf)
    return np.array(transform.GetScale())

has_material()

Returns:

Name Type Description
bool

True if there is a visual material bound to this prim. False otherwise
Source code in omnigibson/prims/xform_prim.py 
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def has_material(self):
    """
    Returns:
        bool: True if there is a visual material bound to this prim. False otherwise
    """
    material_path = self._binding_api.GetDirectBinding().GetMaterialPath().pathString
    return False if material_path == "" else True

remove_filtered_collision_pair(prim)

Removes a collision filter pair with another prim

Parameters:

Name Type Description Default
prim XFormPrim

Another prim to remove filter collisions with

 required
Source code in omnigibson/prims/xform_prim.py 
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def remove_filtered_collision_pair(self, prim):
    """
    Removes a collision filter pair with another prim

    Args:
        prim (XFormPrim): Another prim to remove filter collisions with
    """
    # Add to both this prim's and the other prim's filtered pair
    self._collision_filter_api.GetFilteredPairsRel().RemoveTarget(prim.prim_path)
    prim._collision_filter_api.GetFilteredPairsRel().RemoveTarget(self._prim_path)

set_local_pose(translation=None, orientation=None)

Sets prim's pose with respect to the local frame (the prim's parent frame).

Parameters:

Name Type Description Default
translation None or 3-array

if specified, (x,y,z) translation in the local frame of the prim (with respect to its parent prim). Default is None, which means left unchanged.

 None
orientation None or 4-array

if specified, (x,y,z,w) quaternion orientation in the local frame of the prim (with respect to its parent prim). Default is None, which means left unchanged.

 None
Source code in omnigibson/prims/xform_prim.py 
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def set_local_pose(self, translation=None, orientation=None):
    """
    Sets prim's pose with respect to the local frame (the prim's parent frame).

    Args:
        translation (None or 3-array): if specified, (x,y,z) translation in the local frame of the prim
            (with respect to its parent prim). Default is None, which means left unchanged.
        orientation (None or 4-array): if specified, (x,y,z,w) quaternion orientation in the local frame of the prim
            (with respect to its parent prim). Default is None, which means left unchanged.
    """
    properties = self.prim.GetPropertyNames()
    if translation is not None:
        translation = Gf.Vec3d(*np.array(translation, dtype=float))
        if "xformOp:translate" not in properties:
            carb.log_error(
                "Translate property needs to be set for {} before setting its position".format(self.name)
            )
        self.set_attribute("xformOp:translate", translation)
    if orientation is not None:
        orientation = np.array(orientation, dtype=float)[[3, 0, 1, 2]]
        if "xformOp:orient" not in properties:
            carb.log_error(
                "Orient property needs to be set for {} before setting its orientation".format(self.name)
            )
        xform_op = self._prim.GetAttribute("xformOp:orient")
        if xform_op.GetTypeName() == "quatf":
            rotq = Gf.Quatf(*orientation)
        else:
            rotq = Gf.Quatd(*orientation)
        xform_op.Set(rotq)
    return

set_orientation(orientation)

Set this prim's orientation with respect to the world frame

Parameters:

Name Type Description Default
orientation 4-array

(x,y,z,w) global quaternion orientation to set

 required
Source code in omnigibson/prims/xform_prim.py 
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def set_orientation(self, orientation):
    """
    Set this prim's orientation with respect to the world frame

    Args:
        orientation (4-array): (x,y,z,w) global quaternion orientation to set
    """
    self.set_position_orientation(orientation=orientation)

set_position(position)

Set this prim's position with respect to the world frame

Parameters:

Name Type Description Default
position 3-array

(x,y,z) global cartesian position to set

 required
Source code in omnigibson/prims/xform_prim.py 
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def set_position(self, position):
    """
    Set this prim's position with respect to the world frame

    Args:
        position (3-array): (x,y,z) global cartesian position to set
    """
    self.set_position_orientation(position=position)

set_position_orientation(position=None, orientation=None)

Sets prim's pose with respect to the world frame

Parameters:

Name Type Description Default
position None or 3-array

if specified, (x,y,z) position in the world frame Default is None, which means left unchanged.

 None
orientation None or 4-array

if specified, (x,y,z,w) quaternion orientation in the world frame. Default is None, which means left unchanged.

 None
Source code in omnigibson/prims/xform_prim.py 
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def set_position_orientation(self, position=None, orientation=None):
    """
    Sets prim's pose with respect to the world frame

    Args:
        position (None or 3-array): if specified, (x,y,z) position in the world frame
            Default is None, which means left unchanged.
        orientation (None or 4-array): if specified, (x,y,z,w) quaternion orientation in the world frame.
            Default is None, which means left unchanged.
    """
    current_position, current_orientation = self.get_position_orientation()
    position = current_position if position is None else np.array(position, dtype=float)
    orientation = current_orientation if orientation is None else np.array(orientation, dtype=float)
    orientation = orientation[[3, 0, 1, 2]]     # Flip from x,y,z,w to w,x,y,z

    mat = Gf.Transform()
    mat.SetRotation(Gf.Rotation(Gf.Quatd(*orientation)))
    mat.SetTranslation(Gf.Vec3d(*position))

    # mat.SetScale(Gf.Vec3d(*(self.get_world_scale() / self.scale)))
    # TODO (eric): understand why this (mat.setScale) works - this works empirically but it's unclear why.
    mat.SetScale(Gf.Vec3d(*(self.scale.astype(np.float64))))
    my_world_transform = np.transpose(mat.GetMatrix())

    parent_world_tf = UsdGeom.Xformable(get_prim_parent(self._prim)).ComputeLocalToWorldTransform(Usd.TimeCode.Default())
    parent_world_transform = np.transpose(parent_world_tf)

    local_transform = np.matmul(np.linalg.inv(parent_world_transform), my_world_transform)
    transform = Gf.Transform()
    transform.SetMatrix(Gf.Matrix4d(np.transpose(local_transform)))
    calculated_translation = transform.GetTranslation()
    calculated_orientation = transform.GetRotation().GetQuat()
    self.set_local_pose(
        translation=np.array(calculated_translation), orientation=gf_quat_to_np_array(calculated_orientation)[[1, 2, 3, 0]]     # Flip from w,x,y,z to x,y,z,w
    )